Function ouster_ros::packet_to_imu_msg(const ouster::sensor::packet_format&, const rclcpp::Time&, const std::string&, const uint8_t *)

Function Documentation

sensor_msgs::msg::Imu ouster_ros::packet_to_imu_msg(const ouster::sensor::packet_format &pf, const rclcpp::Time &timestamp, const std::string &frame, const uint8_t *buf)

Parse an imu packet message into a ROS imu message

Parameters:

  • pf – [in] the packet format

  • timestamp – [in] the timestamp to give the resulting ROS message

  • frame – [in] the frame to set in the resulting ROS message

  • buf – [in] the raw packet message populated by read_imu_packet

Returns:

ROS sensor message with fields populated from the packet